In the manga, Senjumaru did not employ Bankai. The character's abilities and actions were depicted differently without resorting to this particular power.
Shinji did use his Bankai in the manga. It was a crucial moment that turned the tide of the fight. The Bankai's power and unique abilities were showcased, adding an exciting element to the story.
Naruto might use Bankai in a more physical and direct way compared to Bleach characters. Since Naruto is used to combat with his body and chakra - enhanced attacks, his Bankai could be more like a physical transformation rather than the more spiritual manifestations in Bleach. For example, instead of a spectral form, his Bankai could be a physical enhancement of his body with the Zanpakuto's power.
In my opinion, both have their merits. The anime brings the characters to life with animation and sound, but the manga allows for more imagination and detail in the panels. It really comes down to what you value more in your entertainment.